In the last years, legged mobile robots have increased the interest of the robotics community because such mechanisms have higher versatility compared to wheeled and aerial mobile robots. These characteristics make robot with legs a viable solution for rescue and monitoring operations in irregular terrains and difficult to access locations. Although singlelegged or multi-legged mechanisms can transverse any terrain, some of their disadvantages are higher complexity in modelling and control design and higher power consumption. In this work, the author considers the problem of modelling and robust control design for a class of legged mobile robots using the sliding mode control approach. A comparative study between a planning algorithm based on Fourier techniques and sliding mode controllers is presented for the stabilization problem of a hopping robot in flight phase. The author also proposes the stabilization of the posture of multilegged mobile robots such as, hexapod and biped robot, using two different control approaches, the Cartesian regulation control and the sliding mode control. The Lyapunov stability theory is used to demonstrate the stability properties of the closed-loop control systems. Numerical simulations in MATLAB simulation software and computer simulations in Gazebo, an open-source 3D robotic simulator, are included to illustrate the performance and feasibility of the propose methodology.